RU2705480C1 - Способ управления и устройство управления транспортного средства с функцией автоматического вождения - Google Patents
Способ управления и устройство управления транспортного средства с функцией автоматического вождения Download PDFInfo
- Publication number
- RU2705480C1 RU2705480C1 RU2019104754A RU2019104754A RU2705480C1 RU 2705480 C1 RU2705480 C1 RU 2705480C1 RU 2019104754 A RU2019104754 A RU 2019104754A RU 2019104754 A RU2019104754 A RU 2019104754A RU 2705480 C1 RU2705480 C1 RU 2705480C1
- Authority
- RU
- Russia
- Prior art keywords
- vehicle
- automatic driving
- driving
- driving characteristics
- manual
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000035807 sensation Effects 0.000 claims description 47
- 230000006870 function Effects 0.000 claims description 40
- 230000007704 transition Effects 0.000 claims description 29
- 230000009467 reduction Effects 0.000 claims description 10
- 238000012423 maintenance Methods 0.000 abstract description 39
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000126 substance Substances 0.000 abstract 1
- 230000008859 change Effects 0.000 description 49
- 238000001514 detection method Methods 0.000 description 30
- 238000012545 processing Methods 0.000 description 14
- 230000007423 decrease Effects 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 10
- 238000010801 machine learning Methods 0.000 description 10
- 230000036461 convulsion Effects 0.000 description 9
- 239000012634 fragment Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007477 logistic regression Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/242—Speed setting methods setting initial target speed, e.g. initial algorithms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/24—Speed setting methods
- B60K2310/244—Speed setting methods changing target speed or setting a new target speed, e.g. changing algorithms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
- B60K2310/262—Distance setting methods, e.g. determining target distance to target vehicle setting initial distance to preceding vehicle, e.g. initial algorithms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2310/00—Arrangements, adaptations or methods for cruise controls
- B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
- B60K2310/264—Distance setting methods, e.g. determining target distance to target vehicle changing distance, e.g. reducing the distance for overtaking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0872—Driver physiology
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
- B60W2050/0088—Adaptive recalibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/50—Relative longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Artificial Intelligence (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Evolutionary Computation (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2016/073327 WO2018029758A1 (ja) | 2016-08-08 | 2016-08-08 | 自動運転車両の制御方法及び制御装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
RU2705480C1 true RU2705480C1 (ru) | 2019-11-07 |
Family
ID=61162820
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
RU2019104754A RU2705480C1 (ru) | 2016-08-08 | 2016-08-08 | Способ управления и устройство управления транспортного средства с функцией автоматического вождения |
Country Status (10)
Country | Link |
---|---|
US (1) | US10606264B2 (ja) |
EP (1) | EP3498556B1 (ja) |
JP (1) | JP6677304B2 (ja) |
KR (1) | KR102026058B1 (ja) |
CN (1) | CN109562758B (ja) |
BR (1) | BR112019002546B1 (ja) |
CA (1) | CA3033164C (ja) |
MX (1) | MX2019001525A (ja) |
RU (1) | RU2705480C1 (ja) |
WO (1) | WO2018029758A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2781021C1 (ru) * | 2019-12-02 | 2022-10-04 | Ниссан Мотор Ко., Лтд. | Способ управления транспортным средством и устройство управления транспортным средством |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA3068410A1 (en) * | 2017-06-26 | 2019-01-03 | Nissan Motor Co., Ltd. | Vehicle traveling assistance method and vehicle traveling assistance device |
CN111108031B (zh) * | 2017-08-30 | 2023-09-22 | 本田技研工业株式会社 | 行驶控制装置、车辆以及行驶控制方法 |
JP6988381B2 (ja) * | 2017-11-06 | 2022-01-05 | トヨタ自動車株式会社 | 車両制御装置 |
JP6628819B2 (ja) * | 2018-01-15 | 2020-01-15 | 本田技研工業株式会社 | 車両走行制御装置 |
JP6874731B2 (ja) * | 2018-04-11 | 2021-05-19 | トヨタ自動車株式会社 | 車両制御装置 |
JP7127343B2 (ja) * | 2018-04-13 | 2022-08-30 | 株式会社デンソー | 運転モード切替装置、運転モードの切替方法、コンピュータプログラム |
DE102018206425A1 (de) * | 2018-04-25 | 2019-10-31 | Bayerische Motoren Werke Aktiengesellschaft | Aktivierung einer Fahrfunktion zum automatisierten Fahren mit Längs- und Querführung über eine andere Fahrfunktion zum automatisierten Fahren mit geringem Automatisierungsgrad |
US10635104B2 (en) * | 2018-08-21 | 2020-04-28 | International Business Machines Corporation | Intelligent transitioning between autonomous and manual driving modes of a vehicle |
JP2022031987A (ja) * | 2018-10-26 | 2022-02-24 | 日立Astemo株式会社 | 車両駆動制御装置、車両の駆動制御方法及びプログラム |
US11325611B2 (en) | 2018-12-26 | 2022-05-10 | Baidu Usa Llc | Torque feedback based vehicle longitudinal automatic calibration system for autonomous driving vehicles |
US11126178B2 (en) | 2019-01-18 | 2021-09-21 | Zoox, Inc. | Vehicle control |
DE102019101662A1 (de) * | 2019-01-23 | 2020-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Steuereinheit zum Betrieb eines adaptiven Geschwindigkeitsreglers |
KR102180800B1 (ko) * | 2019-04-03 | 2020-11-19 | 경북대학교 산학협력단 | 차량의 주행상태 판단장치 및 그 판단방법 |
JP7143822B2 (ja) * | 2019-06-28 | 2022-09-29 | トヨタ自動車株式会社 | 車両制御装置 |
US10696306B1 (en) | 2019-09-25 | 2020-06-30 | Lyft Inc. | Evaluating driving control systems for elegant driving |
JP7255699B2 (ja) * | 2019-10-09 | 2023-04-11 | 株式会社Soken | 車両用運転切り替え装置、車両運転システム、車両用運転切り替え方法 |
DE102020100868A1 (de) * | 2020-01-15 | 2021-07-15 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Steuereinheit zum Betrieb einer Fahrfunktion |
US11827503B2 (en) | 2020-03-18 | 2023-11-28 | Crown Equipment Corporation | Adaptive acceleration for materials handling vehicle |
CN111861128B (zh) * | 2020-06-20 | 2024-03-22 | 清华大学 | 自动驾驶车辆人机协同操纵过程的接管舒适性评价方法、系统及存储介质 |
US11608067B2 (en) * | 2020-08-12 | 2023-03-21 | Honda Motor Co., Ltd. | Probabilistic-based lane-change decision making and motion planning system and method thereof |
CN112339754A (zh) * | 2020-10-23 | 2021-02-09 | 上汽通用五菱汽车股份有限公司 | 车速调整方法、车辆及可读存储介质 |
MX2023005183A (es) * | 2020-11-03 | 2023-05-15 | Crown Equip Corp | Aceleracion adaptativa para vehiculo de manejo de materiales. |
JP7184949B2 (ja) * | 2021-03-26 | 2022-12-06 | 本田技研工業株式会社 | 自動運転車両の操舵装置及びこれを備えた自動運転車両 |
FR3126385B1 (fr) * | 2021-08-25 | 2023-10-06 | Psa Automobiles Sa | Procédé et système pour personnaliser le fonctionnement d’un appareillage d’aide à la conduite d’un véhicule automobile |
WO2023059221A1 (ru) | 2021-10-04 | 2023-04-13 | Общество с ограниченной ответственностью "ЭвоКарго" | Способ управления характеристиками движения транспортного средства |
FR3132070B1 (fr) * | 2022-01-21 | 2023-12-15 | Psa Automobiles Sa | Procédé et dispositif de contrôle d’accélération d’un véhicule embarquant un système de régulation de vitesse |
CN116674578B (zh) * | 2023-08-03 | 2023-10-20 | 南京德沃克自动化有限公司 | 基于车辆显控系统的控制方法及系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012051441A (ja) * | 2010-08-31 | 2012-03-15 | Toyota Motor Corp | 自動運転車両制御装置 |
RU2477527C1 (ru) * | 2012-03-27 | 2013-03-10 | Павел Ильич Субботин | Способ и система управления транспортными потоками и устройство мониторинга дорожной ситуации |
US9150220B2 (en) * | 2013-12-04 | 2015-10-06 | Mobileye Vision Technologies Ltd. | Systems and methods for mimicking a leading vehicle |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2918617B2 (ja) * | 1990-03-30 | 1999-07-12 | マツダ株式会社 | 自律走行車両の制御装置 |
JPH0443132A (ja) | 1990-06-08 | 1992-02-13 | Jidosha Denki Kogyo Co Ltd | 自動定速走行装置 |
JP3244015B2 (ja) * | 1997-02-26 | 2002-01-07 | 三菱自動車工業株式会社 | 車両用自動変速機の変速制御装置 |
JPH10309961A (ja) | 1997-05-12 | 1998-11-24 | Toyota Motor Corp | 自動走行車両制御装置 |
AU2006304838B2 (en) | 2005-10-21 | 2011-07-28 | Deere & Company | Systems and methods for obstacle avoidance |
JP5187032B2 (ja) * | 2008-07-02 | 2013-04-24 | アイシン・エィ・ダブリュ株式会社 | 運転支援装置、運転支援方法および運転支援プログラム |
JP4973687B2 (ja) * | 2009-05-13 | 2012-07-11 | トヨタ自動車株式会社 | 走行支援装置 |
US8825258B2 (en) * | 2012-11-30 | 2014-09-02 | Google Inc. | Engaging and disengaging for autonomous driving |
JP6016680B2 (ja) * | 2013-03-18 | 2016-10-26 | ヤンマー株式会社 | 走行車両 |
DE102013210941A1 (de) | 2013-06-12 | 2014-12-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs |
CN105579321B (zh) | 2013-07-23 | 2018-05-11 | 日产自动车株式会社 | 车辆用驾驶辅助装置及车辆用驾驶辅助方法 |
JP6205947B2 (ja) * | 2013-07-26 | 2017-10-04 | 日産自動車株式会社 | 自動運転制御装置 |
JP6390095B2 (ja) | 2013-12-18 | 2018-09-19 | 株式会社ジェイテクト | 車両制御装置 |
JP6150258B2 (ja) * | 2014-01-15 | 2017-06-21 | みこらった株式会社 | 自動運転車 |
JP6375754B2 (ja) | 2014-07-25 | 2018-08-22 | アイシン・エィ・ダブリュ株式会社 | 自動運転支援システム、自動運転支援方法及びコンピュータプログラム |
EP3256815A1 (en) | 2014-12-05 | 2017-12-20 | Apple Inc. | Autonomous navigation system |
EP3240714B1 (en) * | 2014-12-29 | 2023-08-30 | Robert Bosch GmbH | Systems and methods for operating autonomous vehicles using personalized driving profiles |
US11281211B2 (en) * | 2015-09-30 | 2022-03-22 | Sony Corporation | Driving control apparatus, driving control method, and program |
-
2016
- 2016-08-08 KR KR1020197002501A patent/KR102026058B1/ko active IP Right Grant
- 2016-08-08 BR BR112019002546-4A patent/BR112019002546B1/pt active IP Right Grant
- 2016-08-08 WO PCT/JP2016/073327 patent/WO2018029758A1/ja unknown
- 2016-08-08 JP JP2018533321A patent/JP6677304B2/ja active Active
- 2016-08-08 EP EP16912642.2A patent/EP3498556B1/en active Active
- 2016-08-08 CN CN201680088137.4A patent/CN109562758B/zh active Active
- 2016-08-08 US US16/323,744 patent/US10606264B2/en active Active
- 2016-08-08 MX MX2019001525A patent/MX2019001525A/es active IP Right Grant
- 2016-08-08 RU RU2019104754A patent/RU2705480C1/ru active
- 2016-08-08 CA CA3033164A patent/CA3033164C/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012051441A (ja) * | 2010-08-31 | 2012-03-15 | Toyota Motor Corp | 自動運転車両制御装置 |
RU2477527C1 (ru) * | 2012-03-27 | 2013-03-10 | Павел Ильич Субботин | Способ и система управления транспортными потоками и устройство мониторинга дорожной ситуации |
US9150220B2 (en) * | 2013-12-04 | 2015-10-06 | Mobileye Vision Technologies Ltd. | Systems and methods for mimicking a leading vehicle |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2781021C1 (ru) * | 2019-12-02 | 2022-10-04 | Ниссан Мотор Ко., Лтд. | Способ управления транспортным средством и устройство управления транспортным средством |
Also Published As
Publication number | Publication date |
---|---|
JP6677304B2 (ja) | 2020-04-08 |
EP3498556A1 (en) | 2019-06-19 |
CN109562758A (zh) | 2019-04-02 |
KR20190022759A (ko) | 2019-03-06 |
EP3498556B1 (en) | 2020-10-07 |
BR112019002546B1 (pt) | 2023-01-17 |
WO2018029758A1 (ja) | 2018-02-15 |
MX2019001525A (es) | 2019-07-04 |
JPWO2018029758A1 (ja) | 2019-06-06 |
CN109562758B (zh) | 2020-07-17 |
BR112019002546A2 (pt) | 2019-05-21 |
US20190171204A1 (en) | 2019-06-06 |
KR102026058B1 (ko) | 2019-11-05 |
US10606264B2 (en) | 2020-03-31 |
CA3033164A1 (en) | 2018-02-15 |
CA3033164C (en) | 2020-03-24 |
EP3498556A4 (en) | 2019-09-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
RU2705480C1 (ru) | Способ управления и устройство управления транспортного средства с функцией автоматического вождения | |
CN112416004B (zh) | 一种基于自动驾驶的控制方法、装置、车辆以及相关设备 | |
CA3025643C (en) | Driving control method and driving control apparatus | |
JP2020187754A (ja) | 課せられる責任の制約を伴うナビゲーションシステム | |
JP6901555B2 (ja) | 自動運転車の制御のための車両制御装置及び方法 | |
JP2022106879A (ja) | 車両をナビゲートするためのシステム及び方法 | |
US20190143992A1 (en) | Self-driving learning apparatus and method using driving experience information | |
JP6428928B2 (ja) | オクルージョン制御装置 | |
JP6468261B2 (ja) | 自動運転システム | |
JP2018025993A (ja) | 自動運転システム | |
CN113954871A (zh) | 对于自主车辆测试预测 | |
JP2019053658A (ja) | 車両制御装置 | |
JP6792704B2 (ja) | 自動運転車の制御のための車両制御装置及び方法 | |
WO2021054051A1 (ja) | 電子制御装置 | |
JP6924629B2 (ja) | 自動制御装置およびその制御方法 | |
KR102166811B1 (ko) | 심층강화학습과 운전자보조시스템을 이용한 자율주행차량의 제어 방법 및 장치 | |
CN111373457A (zh) | 车辆控制装置、车辆以及车辆控制方法 | |
CN113119945B (zh) | 一种基于环境模型的汽车高级辅助驾驶系统 | |
CN114067569B (zh) | V2x车联网环境下车辆左转辅助预警方法 | |
CN113370972A (zh) | 行驶控制装置、行驶控制方法以及存储程序的计算机可读取存储介质 | |
CN117208019B (zh) | 基于值分布强化学习的感知遮挡下纵向决策方法及系统 | |
CN117751394A (zh) | 用于支持自动行驶车辆的环境识别的方法和装置 | |
CN116187067A (zh) | 混合交通流下无信控行人过街横道的人车冲突分析方法 |